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energy changed

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sun
2019-08-04 01:44:30 +08:00
parent 851c716153
commit 04c7eea9e0
4 changed files with 36 additions and 4 deletions
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1
energy/include/energy/energy.h
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@@ -144,6 +144,7 @@ private:
void showFans(std::string windows_name, const cv::Mat src);//显示扇叶
void showArmors(std::string windows_name, const cv::Mat src);//显示装甲板
void showBoth(std::string windows_name, const cv::Mat src);//显示扇叶和装甲板
void showTarget(std::string windows_name, const cv::Mat src);//显示目标装甲板
void showCenterR(std::string windows_name, const cv::Mat src);//显示风车中心候选区R
void showFlowStrip(std::string windows_name, const cv::Mat src);//显示流动条
void showFlowStripFan(std::string windows_name, const cv::Mat src);//显示流动条所在扇叶

11
energy/src/energy/run.cpp
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@@ -120,9 +120,14 @@ void Energy::runSmall(cv::Mat &gimbal_src) {
if (show_process)imshow("bin", gimbal_src);
if (findArmors(gimbal_src) < 1)return;
if (show_energy)showArmors("armor", gimbal_src);
if (!findFlowStripFan(gimbal_src))return;
if (!findTargetInFlowStripFan()) return;
if (!findFlowStrip(gimbal_src))return;
if (!findFlowStripFan(gimbal_src)) {
if (!findFlowStripWeak(gimbal_src))return;
} else {
if (show_energy)showFlowStripFan("strip fan", gimbal_src);
if (!findTargetInFlowStripFan()) return;
if (!findFlowStrip(gimbal_src))return;
}
if(show_energy)showTarget("target", gimbal_src);
// getCenter();
// sendEnergy();

26
energy/src/energy/show/show.cpp
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@@ -98,6 +98,32 @@ void Energy::showBoth(std::string windows_name, const cv::Mat src) {
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于显示图像中目标装甲板
// ---------------------------------------------------------------------------------------------------------------------
void Energy::showTarget(std::string windows_name, const cv::Mat src) {
if (src.empty())return;
static Mat image2show;
if (src.type() == CV_8UC1) // 黑白图像
{
cvtColor(src, image2show, COLOR_GRAY2RGB);
} else if (src.type() == CV_8UC3) //RGB 彩色
{
image2show = src.clone();
}
for (const auto &armor : armors) {
if (pointDistance(armor.center, target_point) < energy_part_param_.TWIN_POINT_MAX) {
Point2f vertices[4]; //定义矩形的4个顶点
armor.points(vertices); //计算矩形的4个顶点
for (int i = 0; i < 4; i++)
line(image2show, vertices[i], vertices[(i + 1) % 4], Scalar(255, 255, 0), 2);
}
}
imshow(windows_name, image2show);
}
//----------------------------------------------------------------------------------------------------------------------
// 此函数用于显示图像中所有可能的风车中心候选区R
// ---------------------------------------------------------------------------------------------------------------------

2
main.cpp
View File

@@ -30,7 +30,7 @@ using namespace std;
mcu_data mcuData = { // 单片机端回传结构体
0, // 当前云台yaw角
0, // 当前云台pitch角
BIG_ENERGY_STATE, // 当前状态，自瞄-大符-小符
SMALL_ENERGY_STATE, // 当前状态，自瞄-大符-小符
0, // 云台角度标记位
1, // 是否启用数字识别
ENEMY_RED, // 敌方颜色